X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_pyro.c;h=b1cfd9d871fe1045f1cf6bc2d970471f913b7ca9;hb=fd619a01bf3489b1df017aca20362757b087ec11;hp=943413e699a9224f1d05f850c249dae74508fe59;hpb=0cfd22baa6af44e053428c30c1a95cf5551b68af;p=fw%2Faltos

diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c
index 943413e6..b1cfd9d8 100644
--- a/src/core/ao_pyro.c
+++ b/src/core/ao_pyro.c
@@ -20,6 +20,15 @@
 #include <ao_sample.h>
 #include <ao_flight.h>
 
+#if IS_COMPANION
+#include <ao_companion.h>
+#define ao_accel ao_companion_command.accel
+#define ao_speed ao_companion_command.speed
+#define ao_height ao_companion_command.height
+#define ao_flight_state ao_companion_command.flight_state
+#define ao_motor_number ao_companion_command.motor_number
+#endif
+
 #define ao_lowbit(x)	((x) & (-x))
 
 /*
@@ -66,14 +75,16 @@ ao_pyro_ready(struct ao_pyro *pyro)
 				continue;
 			break;
 
+#if HAS_ORIENT
 		case ao_pyro_orient_less:
-//			if (ao_orient <= pyro->orient_less)
+			if (ao_orient <= pyro->orient_less)
 				continue;
 			break;
 		case ao_pyro_orient_greater:
-//			if (ao_orient >= pyro->orient_greater)
+			if (ao_orient >= pyro->orient_greater)
 				continue;
 			break;
+#endif
 
 		case ao_pyro_time_less:
 			if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
@@ -101,9 +112,18 @@ ao_pyro_ready(struct ao_pyro *pyro)
 		case ao_pyro_delay:
 			/* handled separately */
 			continue;
-			
-		case ao_pyro_none:
+
+		case ao_pyro_state_less:
+			if (ao_flight_state < pyro->state_less)
+				continue;
 			break;
+		case ao_pyro_state_greater_or_equal:
+			if (ao_flight_state >= pyro->state_greater_or_equal)
+				continue;
+			break;
+
+		default:
+			continue;
 		}
 		return FALSE;
 	}
@@ -115,7 +135,7 @@ ao_pyro_ready(struct ao_pyro *pyro)
 		ao_delay(AO_MS_TO_TICKS(50));	\
 		ao_gpio_set(port, bit, pin, 0);	\
 	} while (0)
-	
+
 
 static void
 ao_pyro_fire(uint8_t p)
@@ -150,10 +170,12 @@ ao_pyro_fire(uint8_t p)
 	ao_delay(AO_MS_TO_TICKS(50));
 }
 
+uint8_t	ao_pyro_wakeup;
+
 static void
 ao_pyro(void)
 {
-	uint8_t		p;
+	uint8_t		p, any_waiting;
 	struct ao_pyro	*pyro;
 
 	ao_config_get();
@@ -161,7 +183,10 @@ ao_pyro(void)
 		ao_sleep(&ao_flight_state);
 
 	for (;;) {
-		ao_delay(AO_MS_TO_TICKS(100));
+		ao_alarm(AO_MS_TO_TICKS(100));
+		ao_sleep(&ao_pyro_wakeup);
+		ao_clear_alarm();
+		any_waiting = 0;
 		for (p = 0; p < AO_PYRO_NUM; p++) {
 			pyro = &ao_config.pyro[p];
 
@@ -175,6 +200,7 @@ ao_pyro(void)
 			if (!pyro->flags)
 				continue;
 
+			any_waiting = 1;
 			/* Check pyro state to see if it shoule fire
 			 */
 			if (!pyro->delay_done) {
@@ -198,7 +224,10 @@ ao_pyro(void)
 
 			ao_pyro_fire(p);
 		}
+		if (!any_waiting)
+			break;
 	}
+	ao_exit();
 }
 
 __xdata struct ao_task ao_pyro_task;
@@ -207,34 +236,48 @@ __xdata struct ao_task ao_pyro_task;
 
 #define AO_PYRO_NAME_LEN	3
 
+#if !DISABLE_HELP
+#define ENABLE_HELP 1
+#endif
+
+#if ENABLE_HELP
+#define HELP(s)	(s)
+#else
+#define HELP(s)
+#endif
+
 const struct {
 	char			name[AO_PYRO_NAME_LEN];
 	enum ao_pyro_flag	flag;
 	uint8_t			offset;
+#if ENABLE_HELP
 	char			*help;
+#endif
 } ao_pyro_values[] = {
-	{ "a<",	ao_pyro_accel_less,	offsetof(struct ao_pyro, accel_less), "accel less (m/ss * 16)" },
-	{ "a>",	ao_pyro_accel_greater,	offsetof(struct ao_pyro, accel_greater), "accel greater (m/ss * 16)" },
+	{ "a<",	ao_pyro_accel_less,	offsetof(struct ao_pyro, accel_less), HELP("accel less (m/ss * 16)") },
+	{ "a>",	ao_pyro_accel_greater,	offsetof(struct ao_pyro, accel_greater), HELP("accel greater (m/ss * 16)") },
+
+	{ "s<",	ao_pyro_speed_less,	offsetof(struct ao_pyro, speed_less), HELP("speed less (m/s * 16)") },
+	{ "s>",	ao_pyro_speed_greater,	offsetof(struct ao_pyro, speed_greater), HELP("speed greater (m/s * 16)") },
 
-	{ "s<",	ao_pyro_speed_less,	offsetof(struct ao_pyro, speed_less), "speed less (m/s * 16)" },
-	{ "s>",	ao_pyro_speed_greater,	offsetof(struct ao_pyro, speed_greater), "speed greater (m/s * 16)" },
+	{ "h<",	ao_pyro_height_less,	offsetof(struct ao_pyro, height_less), HELP("height less (m)") },
+	{ "h>",	ao_pyro_height_greater,	offsetof(struct ao_pyro, height_greater), HELP("height greater (m)") },
 
-	{ "h<",	ao_pyro_height_less,	offsetof(struct ao_pyro, height_less), "height less (m)" },
-	{ "h>",	ao_pyro_height_greater,	offsetof(struct ao_pyro, height_greater), "height greater (m)" },
+#if HAS_ORIENT
+	{ "o<",	ao_pyro_orient_less,	offsetof(struct ao_pyro, orient_less), HELP("orient less (deg)") },
+	{ "o>",	ao_pyro_orient_greater,	offsetof(struct ao_pyro, orient_greater), HELP("orient greater (deg)")  },
+#endif
 
-	{ "o<",	ao_pyro_orient_less,	offsetof(struct ao_pyro, orient_less), "orient less (deg)" },
-	{ "o>",	ao_pyro_orient_greater,	offsetof(struct ao_pyro, orient_greater), "orient greater (deg)"  },
+	{ "t<",	ao_pyro_time_less,	offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") },
+	{ "t>",	ao_pyro_time_greater,	offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)")  },
 
-	{ "t<",	ao_pyro_time_less,	offsetof(struct ao_pyro, time_less), "time less (s * 100)" },
-	{ "t>",	ao_pyro_time_greater,	offsetof(struct ao_pyro, time_greater), "time greater (s * 100)"  },
+	{ "A", ao_pyro_ascending,	NO_VALUE, HELP("ascending") },
+	{ "D", ao_pyro_descending,	NO_VALUE, HELP("descending") },
 
-	{ "A", ao_pyro_ascending,	NO_VALUE, "ascending" },
-	{ "D", ao_pyro_descending,	NO_VALUE, "descending" },
-	
-	{ "m", ao_pyro_after_motor,	offsetof(struct ao_pyro, motor), "after motor" },
+	{ "m", ao_pyro_after_motor,	offsetof(struct ao_pyro, motor), HELP("after motor") },
 
-	{ "d", ao_pyro_delay,		offsetof(struct ao_pyro, delay), "delay before firing (s * 100)" },
-	{ "", ao_pyro_none,		NO_VALUE, NULL },
+	{ "d", ao_pyro_delay,		offsetof(struct ao_pyro, delay), HELP("delay before firing (s * 100)") },
+	{ "", ao_pyro_none,		NO_VALUE, HELP(NULL) },
 };
 
 static void
@@ -244,6 +287,7 @@ ao_pyro_print_name(uint8_t v)
 	printf ("%s%s", s, "   " + strlen(s));
 }
 
+#if ENABLE_HELP
 static void
 ao_pyro_help(void)
 {
@@ -257,7 +301,8 @@ ao_pyro_help(void)
 		printf ("%s\n", ao_pyro_values[v].help);
 	}
 }
-	      
+#endif
+
 void
 ao_pyro_show(void)
 {
@@ -265,6 +310,7 @@ ao_pyro_show(void)
 	uint8_t 	v;
 	struct ao_pyro	*pyro;
 
+	printf ("Pyro-count: %d\n", AO_PYRO_NUM);
 	for (p = 0; p < AO_PYRO_NUM; p++) {
 		printf ("Pyro %2d: ", p);
 		pyro = &ao_config.pyro[p];
@@ -299,11 +345,14 @@ ao_pyro_set(void)
 	uint8_t	v;
 
 	ao_cmd_white();
+
+#if ENABLE_HELP
 	switch (ao_cmd_lex_c) {
 	case '?':
 		ao_pyro_help();
 		return;
 	}
+#endif
 
 	ao_cmd_decimal();
 	if (ao_cmd_status != ao_cmd_success)
@@ -318,7 +367,7 @@ ao_pyro_set(void)
 		ao_cmd_white();
 		if (ao_cmd_lex_c == '\n')
 			break;
-		
+
 		for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
 			if (ao_cmd_is_white())
 				break;
@@ -348,6 +397,25 @@ ao_pyro_set(void)
 	_ao_config_edit_finish();
 }
 
+static void
+ao_pyro_manual(void)
+{
+	ao_cmd_white();
+	if (!ao_match_word("DoIt"))
+		return;
+	ao_cmd_white();
+	ao_cmd_decimal();
+	if (ao_cmd_lex_i < 0 || AO_PYRO_NUM <= ao_cmd_lex_i)
+		return;
+	ao_pyro_fire(ao_cmd_lex_i);
+
+}
+
+const struct ao_cmds ao_pyro_cmds[] = {
+	{ ao_pyro_manual,	"P DoIt <n>\0Fire igniter" },
+	{ 0, NULL }
+};
+
 void
 ao_pyro_init(void)
 {
@@ -375,5 +443,6 @@ ao_pyro_init(void)
 #if AO_PYRO_NUM > 7
 	ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, 0);
 #endif
+	ao_cmd_register(&ao_pyro_cmds[0]);
 	ao_add_task(&ao_pyro_task, ao_pyro, "pyro");
 }